Active damping of a measuring device

ABSTRACT

Method for providing avoiding of excitations of oscillations of a measuring machine and/or for reducing or damping such oscillations by actively controlling a driving unit of the measuring machine or actively controlling an actuation of an additionally attached actuator. The method using information about an actual state of the measuring device, the actual state is derived based on a dynamic model and/or by use of a suitable sensor unit. A state controller, an actuator or a frequency-filtering element are used for counteracting or preventing oscillations.

FIELD OF THE INVENTION

The present invention generally pertains to approaches for dynamicalcompensations of dynamical effects occurring by movement of a measuringdevice, in particular of a coordinate measuring machine, and torespective devices being adapted for proving such an approach.

BACKGROUND

It is common practice to inspect work pieces subsequent to production ona coordinate positioning apparatus, such as a coordinate measuringmachine (CMM), in order to check for correctness of predefined objectparameters, like dimensions and shape of the object.

In a conventional 3-D coordinate measurement machine, a probe head issupported for movement along three mutually perpendicular axes (indirections X, Y and Z). Thereby, the probe head can be guided to anyarbitrary point in space of a measuring volume of the coordinatemeasuring machine and the object is measurable with a measurement sensor(probe) carried by the probe head.

In a simple form of the machine a suitable transducer mounted parallelto each axis is able to determine the position of the probe headrelative to a base of the machine and, therefore, to determine thecoordinates of a measurement point on the object being approached by thesensor. For providing movability of the probe head a typical coordinatemeasuring machine may comprise a frame structure on which the probe headis arranged and driving means for moving frame components of the framestructure relative to each other.

For measuring surface variations, both measurement principles based onuse of tactile sensors and of optical sensors are known.

In general, to provide a coordinate measuring machine with an improvedmeasurement precision, its frame structure is therefore usually designedto have a high static stiffness. In order to achieve a stiff and rigidmachine design, the frame structure or at least parts of it, is oftenmade of stone, such as granite. Besides all the positive effects likethermal stability and good damping properties, the granite also makesthe machine and the movable frame elements quite heavy. The high weighton the other side also requires high forces for a decent acceleration.

There are still several possible sources of error, if such technique isemployed. Resonances or vibrations of machine parts when moving oneframe component relative to another component are just two examples fordynamic errors. Moreover, errors emerging from vibrations coming fromoutside the machine are to be considered. Additionally, static errorslike lack of straightness in movement and of orthogonality of the axesor lateral offset in the linear drive mechanisms may occur.

According to many approaches the mentioned errors are only analyzedstatically, although they also comprise dynamic factors which aredependent on the movement of the axes, in particular dependent on theposition, speed, acceleration and jerk when moving the axis. With thespeed-dependent calibration, this fact is taken into account in a rathersimple and inflexible way. While the static errors can be numericallyreduced by the use of position calibration matrices, things get muchmore complex when trying to compensate the dynamic errors.

In that context, for example, it has to be considered that accelerationsof one axis of the machine (which can move further perpendicular axesand the probe head), can cause linear and angular dynamic deflections ofthe whole frame of the coordinate measuring machine, which in turn causemeasurement uncertainties and errors. These dynamic measurement errorsmay be reduced by taking measurements at low accelerations, e.g. by aconsequently optimized trajectory of desired movement.

Known approaches are trying to suppress deflections, vibrations and/oroscillations caused by the acceleration of the machine by a technologycalled input-shaping, which controls the regulating variable, e.g. theforce or current of a propulsion motor, in such a way as to bypass somemechanical resonances and avoid a stimulation of resonance frequenciesor even actively counterforce oscillations by a accordingly manipulatedvariable on the output to the driving actuator control.

Also model predictive control, as a form of control in which the currentcontrol action is obtained by solving at each sampling instant a finitehorizon open-loop optimal control problem, using the current state ofthe plant as the initial state, can be applied to CMMs. The optimisationyields an optimal control sequence and the first control in the sequenceis then applied to the plant.

Exemplarily for error handling, EP 1 559 990 discloses a coordinatemeasuring system and method of correcting coordinates measured in acoordinate measuring machine, measuring geometrical errors while partswith various weights are mounted on the coordinate measuring machine.Compensation parameters are derived from measured results per a weightof a part and stored. A compensation parameter corresponding to a weightof a part to be measured is appropriately read out to correct measuredcoordinates of the part to be measured.

As a further example, EP 1 687 589 discloses a method of errorcompensation in a coordinate measuring machine with an articulatingprobe head having a surface detecting device. The surface detectingdevice is rotated about at least one axis of the articulating probe headduring measurement. The method comprises the steps of: determining thestiffness of the whole or part of the apparatus, determining one or morefactors which relate to the load applied by the articulating probe headat any particular instant and determining the measurement error at thesurface sensing device caused by the load.

Another approach for error correction of work piece measurements with acoordinate measuring machine (CMM) is disclosed in GB 2 425 840.Thereby, position measurements are taken with a work piece sensingprobe, in which means of measuring acceleration are provided. Themeasurements are corrected for both high frequency (unrepeatable) errorssuch as those due to vibration, and low frequency (repeatable) errorssuch as those due to centrifugal forces on the probe. The correctionmethod comprises measuring the work piece, determining repeatablemeasurement errors from a predetermined error function, error map orerror look-up table, measuring acceleration and calculating unrepeatablemeasurement errors, combining the first and second measurement errors todetermine total errors and correcting the work piece measurements usingthe total errors. The predetermined error map is calculated using anartefact of known dimensions.

For handling above mentioned errors, in particular dynamic errors,usually a suitable model of the CMM is to be defined, wherein apositioning behaviour of especially the frame structure of the CMM isenabled to be described based on that model. Exemplarily, a look-uptable may be defined in order to lookup a correction value correlatedwith an actual positioning of the frame components of the CMM. Suchmodelling of a CMM becomes more important along with weight (andstiffness) reduction of CMM-parts.

Weight reduction is a main topic relating to the designs of coordinatemeasuring machines, as if the machine components are built comprisingless weight (and less stiffness) faster positioning of respectivecomponents can be achieved by causing fewer force affecting thecoordinate measuring machine. On the other hand the influence of machinevibrations and torsions caused by reduced stiffness and (faster)movement of the machine components might increase with weight reductionof these parts. Thus, uncertainties of derived measurement values anderrors occurring from such deformations and vibrations might increaseaccordingly.

An approach for a dynamic model which provides precise description ofalso oscillation errors due to less stiff machine constructions is knownfrom EP 2 762 830.

However, by use of such modelling approach still errors occurring frommovements of machine parts or from external influences remain. Againwith view to build measuring machines less heavy and thus provide highermoving speeds for measuring designated work pieces, oscillations of themachine remain significantly influencing measured coordinates orpositions.

SUMMARY

It is therefore an object of some embodiments of the present inventionto provide an improved method and machine for avoiding excitation ofvibrations or oscillations of at least a part of a measuring device.

A further object of some embodiments of the present invention is toprovide methods to reduce occurring oscillation effects.

Yet another object of some embodiments of the present invention is toprovide an improved method for determining machine vibrations and/ordeformations and, particularly, for compensation of positional errorscaused by such vibrations and/or deformations.

The some embodiments of invention relate to a method for controlling ofa relative movement of at least two structural components of a measuringdevice, wherein the measuring device comprises a driving unit forproviding movability at least of the two structural components relativeto each other. The method comprises providing a dynamic stateinformation for at least one of the two structural components by meansof a dynamic model with a set of model state variables, the model statevariables being related to a set of physical properties of at least oneof the two structural components and providing determination of anactual state of at least one of the two structural components. Thedynamic model may be based on a Kalman filter and/or implemented usingrespective observers. The model state variables thus may be derived byuse of such filter or observer.

Moreover, a model-based state controller for controlling the drivingunit is provided, the model-based state controller comprises a set of atleast one controlling state variable which depends on the actual state.In particular, the controlling state variable is represented by theactual state of the measuring device or of a structural component of it.At least one controlling state variable (or actual state respectively)of the set of at least one controlling state variable is derived by acalculation at least based on the dynamic model.

A controlling parameter is generated by use of the state controllerbased on the at least one derived controlling state variable, thecontrolling parameter being adapted to provide driving the driving unitso that the at least one derived controlling state variable and/oractual state is affected in a defined manner.

Thus, according to that approach, a relative movement of structuralcomponents of a measuring device like a CMM is improved by using astate-space controller together with a dynamic model (providing aprecise description of the machine state) for controlling actuations ofthe driving unit.

According to an embodiment of the invention the controlling parameter isapplied to the driving unit so that the structural components are movedin defined manner relative to each other.

The above method according to the invention provides direct managementof natural frequencies (resonances) of the system, for example a dampingwith respect to the frequencies. Additionally, disturbance from theenvironment can be rejected with e.g. phase shifted application offorce.

The estimated or monitored states can be used to estimate positionsand/or velocities for position and/or velocity control loops.Furthermore the states can be used as state variables of the state-spacecontroller or can be used to actively damp natural frequencies byoverall control laws or to correct a CMM pose according to deflectionvalues.

Actual states can be measured or estimated based on the model withobservers or Kalman filters.

According to a specific embodiment of the invention, two stateestimators are used, one for the control loop (e.g. one element for theZ-Ram, to compensate low frequency effects with active elements) and onefor providing accuracy or compensation of the machine (e.g. fiveelements for the Z-Ram; to compensate bending oscillation at higherfrequencies and/or with higher accuracy).

In particular, frequencies of up to 1 kHz—with view to state of the artCMMs—are relevant for the accuracy of the measurement point.

Concerning the determination of the controlling state variable, the atleast one controlling state variable can be derived based also on amodel-based estimation (using the dynamic model) or on a measurementand/or on monitoring the model state variable, in particular monitoringchanges of the model state variable.

Moreover, a particular controlling state variable of the set of at leastone controlling state variable can be derived at least by a model-basedestimation or measurement and/or by monitoring the model state variable.

Furthermore, regarding determination of the actual state, the actualstate can be derived by a calculation based on the dynamic model.

Alternatively or additionally, at least one controlling state variableof the set of at least one controlling state variable is derived bymeasuring an excitation and/or an impact on the measuring device with asensor and/or by calculation from a path trajectory, in particularwherein the at least one controlling state variable is derived fromdetermining the respective physical property.

According to a further embodiment of the invention, the actual state isderived, in particular the change of the actual state is determined, bymeasuring or estimating at least one of the physical properties and,therefrom, deriving at least one corresponding actual controlling statevariable. In particular, a change of the at the actual state is causedby a change of at least one of the physical properties, particularlycaused by an applied force affecting the measuring device, in particularby moving the structural components. In particular, estimating the atleast one of the physical properties is provided by a set of observers(e.g. using Kalman filtering).

As already mentioned above, the at least one controlling state variablemay correspond to the actual state, i.e. the controlling state variableis of identical type and value of the actual state.

According to a preferred embodiment of the invention, the statecontroller comprises an observer which provides determination of the atleast one controlling state variable, in particular wherein the observeris provided by a Kalman-Filter.

Therefore, above method covers the usage of state variables generated byobservers to specifically enhance the control performance of e.g. a CMM,especially the usage of estimated states to actively damp the system.This is provided by the overall control concept using a dynamic modeland a state controller.

With view to the implementation of the dynamic model and the state-spacecontroller—according to an embodiment of the invention—the dynamic modeland the model-based state controller are implemented in combined manner,in particular wherein the dynamic model represents an implemented partof the state controller. Thus, there is not a defined separation ofthese logical parts of the overall control of the system, but thecontrolling provided in an integrated manner.

The dynamic model furthermore provides the possibility of a precisederiving of several machine states at any instance of time. Thus, anactual deflection of the measuring device can be derived based on thedynamic model, in particular wherein an actual pose of the measuringdevice can be corrected based on the derived deflection.

Moreover, an actual velocity of at least a part of the measuring devicecan be derived based on the dynamic model and/or an actual position of adesignated point of the measuring device can be derived based on thedynamic model and/or measuring errors can be compensated based on thedynamic model.

The model-based concept by use of a state controller as described aboveis applicable to various kinds of metrology machines, e.g. coordinatemeasuring machines, total stations, laser trackers or laser scanners.

Because the design of coordinate measuring machines of the generic kindas well as the design of different linear guides and different linearmeasuring instruments are well known to skilled persons, it must beunderstood that numerous modifications and combinations of differentfeatures can be made. All of these modifications lie within the scope ofthe invention.

Thus, the invention may generally be used with all types of coordinatemeasuring machines, i.e. with a CMM being designed as parallelkinematics machine as well as with a CMM having linear or serialkinematics. Exemplarily, the CMM may be designed as bridge-type,L-bridge-type, horizontal-arm-type, cantilever-type or gantry-typemachine or may be designed as articulated arm. Furthermore, theinvention also relates to coordinate measuring machines with rotationalaxis, such as the Scara-type and delta kinematics (parallel kinematics)and machine with articulated heads.

Now more specifically referring to the types of measuring devices beingcontrollable according to the state-space controlled approaches ofabove, the measuring device can be embodied as a coordinate measuringmachine with a base, a probe head, a machine structure for linking theprobe head to the base and at least one drive mechanism for providingmovability of the probe head relative to the base, the drive mechanismrepresenting the driving unit. The structural components are embodied asthe base, the probe head and/or the machine structure.

Alternatively, the measuring device can be embodied as a geodeticmeasuring instrument, in particular laser scanner, laser tracker ortotal station, with a support structure being mounted on a base of themeasuring instrument such that the support structure is pivotable abouta first axis defined by the base and a source of electromagneticradiation for generating a measuring beam. Furthermore, the geodeticmeasuring instrument comprises a directing unit for directing themeasuring beam, the directing unit being arranged at the supportstructure as to provide pivotability of the directing unit about asecond axis defined by the support structure, the second axis beingbasically perpendicular to the first axis, and a measuring functionalityfor providing directing and guiding of the measuring beam in apredefined manner and measuring distances correspondingly.

According to of the state-controlled approach of above, the at least onemodel state variable can define at least one or a combination of thefollowing factors and/or a change of the respective factors of at leastthe part of the measuring device:

-   -   acceleration, in particular rotational,    -   velocity, in particular rotational,    -   position,    -   bending,    -   deformation,    -   displacement,    -   orientation,    -   temperature,    -   humidity,    -   torque,    -   force,    -   stiffness,    -   stiffness distribution,    -   mass and/or    -   mass distribution.

At least one of those factors may be considered by the dynamic modelusing a respective observer or Kalman filtering.

Moreover, the change of the at least one controlling state variable orthe model state variable may be derived based on at least one of thefollowing physical properties and/or a change of the respective physicalproperties, in particular by sensor-based measuring of at least one ofthe physical properties:

-   -   acceleration, in particular rotational,    -   velocity, in particular rotational,    -   position,    -   deflection,    -   torque and/or    -   force.

According to a particular embodiment of the invention, the physicalproperties are monitored, in particular measured, and the actual stateof at least the part of the measuring device is calculated based on atleast the set of model state variables and the monitored physicalproperties.

The invention also related to a computer programme product havingcomputer-executable instructions for performing the method as describedabove, in particular when run on a controlling and processing unit of acoordinate measuring machine.

Some embodiments of the invention also relates to a further method forreducing occurring oscillation effects of a part of a measuring device.The invention also relates to the method for providing an active dampingfunctionality for at least a part of a coordinate measuring machine(CMM). The coordinate measuring machine comprises a base, a probe head,a machine structure with structural components for linking the probehead to the base and at least one driving unit for providing movabilityof the probe head relative to the base. A dynamic state information isprovided for at least a part of a coordinate measuring machine.

According to that issue of the invention, the coordinate measuringmachine comprises a controllable actuator for applying a defined force.Moreover, the method comprises deriving an actual state of at least thepart of the coordinate measuring machine by a determination based on thedynamic state information and determining a controlling parameter basedon the derived actual state, the controlling parameter being adapted toprovide controlling of the actuator so that the actual state is affectedin defined manner.

For respective application of a defined force, a respective controllingsignal can be applied to the actuator, the controlling signal beingderived based on the controlling parameter.

According to embodiments of the invention, the actuator is attached toone of the structural components, the probe head or the base, whereinthe force is producible at the respective component. Of course, it is tobe understood that more than one of such actuators can be attached tothe CMM and thus provide a larger spectrum of application of definedforces.

Concerning the dynamic state information about the CMM such informationcan be provided in several ways. The dynamic state information for atleast the part of a coordinate measuring machine can be provided bymeans of a dynamic model with a set of model state variables, the modelstate variables being related to a set of physical properties of atleast the part of the coordinate measuring machine and representing anactual state of at least the part of the coordinate measuring machine.

Moreover, the dynamic state information for at least the part of acoordinate measuring machine can also be derived by use of an observer.Alternatively or additionally, the set of model state variables of themodel may be derived based on such observer(s), i.e. particularly anobserver can be implemented with the dynamic model.

In that context, in particular, the actual state of at least the part ofthe coordinate measuring machine can be derived by a calculation basedon the dynamic model and/or such observer(s).

According to an alternative or additional approach, the dynamic stateinformation for at least a part of a coordinate measuring machine isprovided by means of a measurement by a sensor unit, in particularwherein the sensor unit comprises an acceleration sensor. Using anaccelerometer for such measurement an oscillation of a machine part candirectly be measured and provided to the method as an input variable fordetermining the controlling parameter.

Such respective sensor unit can be attached to one of the structuralcomponents, the probe head or the base.

In particular, the sensor unit and the actuator are attached to the samepart of the coordinate measuring machine and are positioned closely toeach other. Such a design enables a very direct measuring of a machinevibration and applying a reaction by the actuator especially at theposition where the vibration occurs. Thus, a direct damping can befurther improved.

Alternatively, information provided by one or more sensor units and bythe dynamic model or observer may be combined in order to providerespective controlling of the actuator.

According to a further embodiment of the invention, also informationabout a planned moving path for the probe head is used for deriving theactual state. Such information typically can be provided by a partprogram for measuring a desired work piece.

Concerning the actual state of the coordinate measuring machine or apart of it, more specifically oscillation information about an actualoscillation of at least the part of a coordinate measuring machine canbe derived based on the dynamic state information, in particular whereinthe actual oscillation represents the actual state. Thus, knowledgeabout actual oscillations or vibrations of machine parts can be providedby calculation (model-based) and/or measurement (sensor-based) and/or acombination of both.

Furthermore, the controlling parameter can be determined based on thederived oscillation information and, based on the controlling parameter,a damping actuation can be provided by the actuator by inducing adefined force counteracting the actual oscillation.

The actuator can be designed as a voice coil, a piezo unit or a memorymetal element and/or as a pneumatic element.

The invention concerning the use of an active actuator also relates to acoordinate measuring machine comprising a base, a probe head, a machinestructure with structural components for linking the probe head to thebase, at least one drive mechanism for providing movability of the probehead relative to the base and a controlling and processing unit adaptedfor providing a dynamic state information for at least a part of acoordinate measuring machine.

According to some embodiments of the invention, the coordinate measuringmachine comprises a controllable actuator for applying a defined forceand the controlling and processing unit is adapted to provide executionof an active damping functionality. The active damping functionalitycomprises deriving an actual state of at least the part of thecoordinate measuring machine by a determination based on the dynamicstate information and determining a controlling parameter based on thederived actual state, the controlling parameter being adapted to providecontrolling of the actuator so that the actual state is affectable indefined manner.

In particular, the controlling and processing unit and/or the actuatorof the coordinate measuring machine are adapted for execution of amethod (using an actuator) as describe before.

Some embodiments of the invention concerning the use of an actuator alsorelates to a respective computer programme product havingcomputer-executable instructions for performing said method, inparticular when run on a controlling and processing unit of a coordinatemeasuring machine.

Some embodiments of the invention also relates to a further method foravoiding and reducing excitation of vibrations or oscillations of atleast a part of a measuring device. That method corresponds to a methodfor controlling of a relative movement of a first structural componentand a second structural component of a measuring device, the measuringdevice comprising a driving unit for providing movability of the firstand second structural components relative to each other. The methodcomprises moving the structural components relative to each otheraccording to desired movement by applying a controlling signal to thedriving unit and filtering the controlling signal concerning a knownfrequency response (oscillation behaviour) related to a physicalproperty of at least one of the structural components by use of afrequency-filter element.

According to some embodiments of the invention at least the secondstructural component is designed comprising a (at least one) variablephysical property, in particular depending on a relative position of amoveable sub-structure attached to the second structural component(which leads to a physical property depending variable oscillationbehaviour (natural frequency)), and the frequency-filter element isdesigned being adaptable (tunable) with respect to a filterablefrequency range.

Additionally, the variable physical property of the second structuralcomponent is continuously monitored, in particular by calculation and/ormeasurement, and, based thereon, a change of the physical property isdetermined. Moreover, an actual frequency response (actual oscillationbehaviour) of at least one of the structural components is derived basedon the determined change of the physical property, wherein at least onerelevant frequency region is determined, and the filterable frequencyrange is continuously (in particularly automatically) adapted accordingto the at least one relevant frequency region.

In particular, the frequency-filter element is designed as a notchfilter, lead-, lag-, BiQuad, low-pass, high-pass-filter, or anycombination thereof, wherein the filter can be implemented in context ofan overall control loop for the measuring device. In particular, thefilter is implemented as a digital FIR or IIR filter, wherein the filtercoefficients are adapted pose dependent to take into account or to matchthe natural frequency and/or damping variation according to the pose(position of the moveable sub-structure relative to the secondstructural component).

According to an embodiment of the filtering method according to theinvention, a control loop for controlling the driving unit is provided,wherein the controlling signal is provided as an output signal of thecontrol loop.

In particular, the frequency-filter element is implemented in thecontrol loop and/or is designed as a separate controlling element being(logically) placed ahead or behind the control loop.

Moreover, the frequency-filter element can be implemented in the controlloop so that an excitation of an oscillation relating to the relevantfrequency region is reduced or avoided. That is preferably provided byfiltering the controlling signal using the frequency-filter element andthus providing a pre-filtered signal to the driving unit. By doing so,the actuation of the driving unit is adjusted so that reduced or nooscillations emerge when moving the structural components.

With other words, the frequency-filter element is designed and adaptedwith respect to the filterable frequency range so that an excitation ofoscillation of at least one of the structural component is reduced oravoided within limits of the relevant frequency region.

According to a preferred embodiment of the present invention, anadaptation of the frequency range is provided by varying filterparameters assigned to the frequency-filter element. Thus, the filterelement may be adapted by only changing the filter parameters butkeeping an actual state value constant. This provides a fast and preciseswitching of filtering properties of the filter, whereby a reliable andcontinuous oscillation-reduced controlling of the device is enabled.

Concerning the determination of the frequency response or oscillationsand the adjustment of respective damping the filtering method can bedesigned to derive the actual frequency response or oscillationbehaviour and/or adapt the frequency-filter element based on acalculation using the determined change of the physical property orusing an actual physical property derived from the determined change ofthe physical property. Additionally or alternatively, such may beprovided based on a look-up table providing a correlation of the actualfrequency response and the change of the physical property or the actualphysical property and/or based on a look-up table providing acorrelation of the relevant (oscillation-) frequency region and thechange of the physical property or the actual physical property. Inparticular an interpolation of values of the look-up table is applied.

With view to the physical property, the physical property may berepresented by at least one (or a combination) of the group of followingphysical properties:

-   -   acceleration, in particular rotational,    -   velocity, in particular rotational,    -   pose,    -   deflection,    -   torque,    -   force,    -   mass,    -   mass distribution,    -   stiffness and/or    -   stiffness distribution,

in particular wherein the physical property is determined by asensor-based measurement.

The information about the physical property (or the state of themeasuring device) can be provided by means of a dynamic model with a setof model state variables, the model state variables being related to aset of physical properties of at least the part of the coordinatemeasuring machine and representing an actual state of at least the partof the coordinate measuring machine.

Moreover, the information about the physical property (or state) canalso be derived by use of an observer. Alternatively or additionally,the set of model state variables of the model may be derived based onsuch observer(s), i.e. particularly an observer can be implemented withthe dynamic model.

Now referring to the types of measuring devices being controllableaccording to the state-space controlled approaches of above, themeasuring device can be embodied as a coordinate measuring machinecomprising a base, a probe head, machine structure for linking the probehead to the base and at least one drive mechanism for providingmovability of the probe head relative to the base, the drive mechanismrepresenting the driving unit, wherein the first and/or the secondstructural component is embodied as the base, the probe head and/or themachine structure.

Alternatively, the measuring device can be embodied as a geodeticmeasuring instrument, in particular laser scanner, laser tracker ortotal station, with a support structure being mounted on a base of themeasuring instrument such that the support structure is pivotable abouta first axis defined by the base, a source of electromagnetic radiationfor generating a measuring beam, a directing unit for directing themeasuring beam, the directing unit being arranged at the supportstructure as to provide pivotability of the directing unit about asecond axis defined by the support structure, the second axis beingbasically perpendicular to the first axis, and a measuring functionalityfor providing directing and guiding of the measuring beam in apredefined manner and measuring distances correspondingly. The firstand/or the second structural component are embodied as the base, thesupport structure and/or the directing unit.

Because the design of coordinate measuring machines of the generic kindas well as the design of different linear guides and different linearmeasuring instruments are well known to skilled persons, it must beunderstood that numerous modifications and combinations of differentfeatures can be made. All of these modifications lie within the scope ofthe invention.

Thus, some embodiments of the invention may generally be used with alltypes of coordinate measuring machines, i.e. with a CMM being designedas parallel kinematics machine as well as with a CMM having linear orserial kinematics. Exemplarily, the CMM may be designed as bridge-type,L-bridge-type, horizontal-arm-type, cantilever-type or gantry-typemachine or may be designed as articulated arm. Furthermore, theinvention also relates to coordinate measuring machines with rotationalaxis, such as the Scara-type and delta kinematics (parallel kinematics)and machine with articulated heads.

The embodiments of the invention also relate to a coordinate measuringmachine comprising a base, a probe head, a machine structure with atleast a first and a second structural component for linking the probehead to the base (in particular wherein the base and/or the probe headis represented by one of the structural components), at least one drivemechanism for providing movability of the probe head relative to thebase, a frequency-filter element and a controlling and processing unit.The controlling and processing unit is adapted to provide moving of thestructural components relative to each other according to desiredmovement by applying a controlling signal to the driving unit and toperform filtering the controlling signal concerning a known frequencyresponse related to a physical property of at least one of thestructural components by use of the frequency-filter element.

According to some embodiments of the invention, at least the secondstructural component provides a variable physical property, inparticular depending on a relative position of a moveable sub-structureattached to the second structural component, and the frequency-filterelement is designed being tunable with respect to a filterable frequencyrange. Additionally, the controlling and processing unit is adapted toprovide execution of a filtering functionality. The filteringfunctionality comprises monitoring the variable physical property of thesecond structural component and, based thereon, determining a change ofthe physical property, deriving an actual frequency response of at leastone of the structural component based on the determined change of thephysical property, wherein at least one relevant (oscillation) frequencyregion is determined, and adapting the filterable frequency rangeaccording to the at least one relevant frequency region.

In particular the controlling and processing unit of the coordinatemeasuring machine is adapted for execution of a method using afrequency-filter described above.

According to a specific embodiment of the invention, thefrequency-filter element is represented by a notch filter with avariably settable filterable frequency range by changing respectivefilter parameters.

The invention also relates to a computer programme product havingcomputer-executable instructions for performing the filtering method ofone above, in particular when run on a controlling and processing unitof a coordinate measuring machine.

Of course, it is to be understood, that above and below describedindividual approaches of controlling movement of several parts of ameasuring machine or of damping such machine parts using an actuator canbe combined and simultaneously be applied to a measuring machine like aCMM. E.g. a state-space controller is combined with a controllableactuator or a frequency-filter element for providing even bettermeasuring conditions.

BRIEF DESCRIPTION OF THE DRAWINGS

The methods and the devices according to the invention are described orexplained in more detail below, purely by way of example, with referenceto working examples shown schematically in the drawings. Specifically,

FIG. 1 shows a first exemplary embodiment of a coordinate measuringmachine according to the invention;

FIG. 2 shows a schematic model of a driving unit of a measuring machine;

FIG. 3 shows a block diagram illustrating the general principle of useof a model-based state controller in order to control movements ormeasurements with a measuring device according to the invention;

FIG. 4a-b show an embodiment of a coordinate measuring machine (CMM)according to the present invention, wherein an active dampingfunctionality for at least a part of a coordinate measuring machine isprovided;

FIG. 5 schematically shows a non-linear mechanism with which a methodfor filtered controlling of the mechanism according to the invention isapplicable; and

FIG. 6 shows the principle of frequency-filtering for controlling adriving unit of a measuring device according to the invention.

DETAILED DESCRIPTION

In FIG. 1 an exemplary embodiment of a portal coordinate measuringmachine 1 (CMM) according to the invention is depicted, the coordinatemeasuring machine 1 comprises a base 11 and a frame structure forlinking a probe head 15 to the base 11, the frame structure comprisingseveral frame components 12,13,14 being movable with respect to another.The first frame component 12 is a portal having two portal legs, whichare connected by a bridging portion at their upper ends. Driven by adrive mechanism (not shown), the frame component 12 is capable to movealong the longitudinal sides of the base 11. This direction correspondsto a first direction X. The movement of the frame component 12particularly is performed by a gear rack attached to the base 11, whichis meshing with a pinion on the frame component 12.

A carriage 14 is movably arranged on the bridging portion of the framecomponent 12. The movement of the carriage 14 (which is to bee seen as afurther frame component) may also be achieved by a rack and pinion. Avertical rod 13 (sleeve, Z-ram), building a further frame component, ismovably incorporated into the carriage 14. At the bottom portion of thevertical rod 13 a probe head 15 is provided.

The probe head 15 is movable to any desired point in a measuring volume(work zone) of the coordinate measuring machine 1 in the directions X, Yand Z. The measuring volume is defined by the base 11 and the framecomponents 12,13 and in particular by the range of movability of thecarriage 14. The three space directions X, Y and Z are preferablyorthogonal to one another, although this is not necessary for thepresent invention. It should be noted that a drive mechanism and acontroller for driving the frame components and, thus, for driving theprobe head 15 are not shown.

An object 5 to be measured is positioned in the space of the measuringvolume on the base 11.

The probe head 15, on which a stylus is arranged exemplarily, isfastened on the lower free end of the rod 13. The stylus is used in amanner known per se for touching the object 5 to be measured. However,the present invention is not restricted to a tactile coordinatemeasuring machine and may likewise be used for coordinate measuringmachines in which a measurement point is approached in a non-contactmanner, i.e. for example a coordinate measuring machine with an opticalscanning head. More generally, the probe head 15 may be designed forarranging a contact probe, e.g. a scanning or touch trigger probe, or anon-contact probe, particularly an optical, capacitance or inductanceprobe, and/or an articulated probe.

Two of the most common types of bearings between the movable members andthe guides are air bearings or ball bearings (e.g. linear circulatingplus rails). The air bearings give the advantage that there is nofriction in the movement (which may introduce different kind of errorslike angle errors or hysteresis). The disadvantage of air bearings isthat the stiffness is lower than in ball bearings, so that particularlydynamic errors may occur. In ball bearing types, the stiffness in thebearing system is typically higher but there is friction and thefriction forces may introduce errors. However, the invention may beapplied for both types of bearings.

Summed up, the coordinate measuring machine 1 is built for determinationof three space coordinates of a measurement point on an object 5 to bemeasured and, therefore, comprises three linear drive mechanisms forprovision of movability of the probe head 15 relative to the base 11 inthe first, second and third direction (X, Y and Z direction) andparticularly machine components providing additional rotatory degrees offreedom (e.g. articulated probe).

Each linear drive mechanism has a linear guide, one in the first, one inthe second and one in the third direction (X, Y and Z direction),respectively. In a simple embodiment, the linear guide of theY-direction drive mechanism is formed by two edge-building surfaces ofthe base 11, the linear guide of the X-direction drive mechanism isformed by two or three surfaces of the bridge and the linear guide ofthe Z-direction drive mechanism is formed by a cubical hole in theX-carriage member.

Furthermore, each linear drive mechanism comprises a movable memberbeing supported for movement along the guide by bearings. In particular,the movable member of the Y-direction drive mechanism is embodied asY-carriage having mutually facing surfaces with respect to the abovementioned two or three guiding surfaces of the base 11. The movablemember of the X-direction drive mechanism is embodied as X-carriage 14having mutually facing surfaces with respect to the above mentioned twoor three guiding surfaces of the bridge. And, the movable member of theZ-direction drive mechanism is formed by Z-column 13 (sleeve) havingmutually facing surfaces with respect to the inner surfaces of thecubical hole in the X-carriage. In scope of the present invention, it isto be understood that the facing surfaces are not restricted to form acubical hole but also may be arranged in a more general way.

Moreover, each linear drive mechanism comprises a linear measuringinstrument for determination of a first, a second or a third driveposition, respectively, of each movable member in the first, the secondor the third direction (X, Y and Z direction), respectively.

In this exemplary embodiment of FIG. 1, the portal legs each have amovable Y-carriage which allows movement of the first frame component 12in Y-direction.

A measuring scale 10Y being part of the Y-measuring instrument isschematically represented on the long side of the base 11, wherein thescale 10Y extends parallel to the Y-direction. The scale may be a glassmeasuring scale, e.g. having incremental or absolute coding, with whicha drive position in the Y-direction of the Y-carriage can be determined.It is to be understood that the measuring instrument may furthermorecontain suitable sensors for reading the measuring scale 10Y, althoughfor the sake of simplicity these are not represented here. However, itshould be pointed out that the invention is not restricted to the use ofglass measuring scales, and therefore may also be used with othermeasuring instruments for recording the drive/travelling-positions ofthe movable members of the drive mechanisms.

Another measuring scale 10X is arranged parallel to the X-direction onthe bridging portion of the first frame component 12. Finally, anothermeasuring scale 10Z is also arranged parallel to the Z-direction on theZ-ram 14. By means of the measuring scales 10X,10Z as part of the linearmeasuring instruments, it is possible to record the present drivepositions of the second frame member 14 in X-direction and of the sleeve13 in the Z-direction metrologically in a manner which is known per se.

In the shown embodiment, the base 11 comprises a table with a granitesurface plate for supporting the object 5 to be measured, on which thespace coordinates of the measurement point are intended to bedetermined.

Not shown is a controlling and processing unit, which is designed toactuate the motor drives of the coordinate measuring machine 1 so thatthe probe head 15 travels to the measurement point. The controlling andprocessing unit comprises a processor and a memory. In particular, thecontrolling and processing unit is designed for determining the threespace-coordinates of the measurement point on the object 5 as a functionof at least the first, the second and the third drive position of thethree drive mechanisms.

For manual operation, the control unit may be connected to a userconsole. It is also possible for the control unit to fully automaticallyapproach and measure measurement points of the object 5 to be measured.

Because the design of coordinate measuring machines of the generic kindas well as the design of different linear guides and different linearmeasuring instruments are well known to skilled persons, it must beunderstood that numerous modifications and combinations of differentfeatures can be made. All of these modifications lie within the scope ofthe invention.

Thus, the invention may generally be used with all types of coordinatemeasuring machines, i.e. with a CMM being designed as parallelkinematics machine as well as with a CMM having linear or serialkinematics. Exemplarily, the CMM may be designed as bridge-type,L-bridge-type, horizontal-arm-type, cantilever-type or gantry-typemachine or may be designed as articulated arm. Furthermore, a respectiveCMM may comprise an articulated probe head, a rotary table or rotaryaxes or may be a Scara-type machine.

Furthermore, a CMM in context with the present invention also is to beunderstood as a system for precise positioning and/or precise assemblingof work pieces or tools and/or for applying materials, e.g. spraying orprinting of paint or other materials. Such a system is designed toprovide movement and measurement of positions within a working volumedefined by the structure of the respective system and defines acoordinate system, within which positioning of system components withhigh precision is provided. In particular, such a system providescarrying and placing of a work piece or a tool relative to a furtherwork piece with high accuracy. For instance, a robot providing precisepositioning and/or measuring abilities may be operated and controlledbased on execution of the dynamic model according to the invention.

Moreover, according to the invention, the controlling and processingunit may comprise a functionality for dynamical—in particularcontinuously—calculating deflections of the coordinate measuring machine1 on basis of a model which represents physical parameters of (at leasta part of) the CMM 1. For such dynamic calculation an excitation of theCMM 1 and/or an external impact on the CMM 1 is monitored (e.g. bymeasuring physical properties or by calculation of the parameter) andsystem variables are updated according to the monitoring. That processof monitoring and updating the parameters is performed in defined timeintervals. Thus, a change of respective system parameters and relatingphysical properties (i.e. the value of a physical property) isdetermined and additionally stored in a database and a calculation ofthe deflections can be performed based on that model with values fromthe database. By considering the history of several physical parameters,which are set for representing at least the part of the CMM 1 by themodel over time, a real dynamic calculation of occurring deformationsand/or vibrations at the CMM 1 can be done and errors caused by thatdeflections can be compensated for. Natural frequencies are enabled tobe calculated and their influences can be mathematically corrected aswell.

Moreover, according to an alternative approach of modelling thecoordinate measuring machine, the controlling and processing unit maycomprise a functionality for dynamical—in particularcontinuously—calculating deflections of the coordinate measuring machine1 on basis of a model, the model representing at least a part of the CMM1 by defined state variables. For deriving a precise state of the CMM 1a filtering process, in particular using Kalman-filtering, is executed,wherein based on the state variables further prediction variables(estimates) are derived describing an expected successive state of theCMM 1. Additionally, some state variables or physical properties,respectively, are monitored, e.g. by measuring the physical properties,and variations concerning the values of respective state variables aredetermined. In a further step of the filtering process, the monitoredvariables (with determined variations) are compared to the predictionvariables and based on the comparison a successive new set of statevariables is derived. These variables represent the proximate (i.e.successive) state of the CMM 1. For instance, the comparison of thevariables can be done by calculating weighted averages, wherein moreweight may be given to variables with higher certainty.

The successive set of state variables is taken for updating the model.Thus, a previous set of variables is actualised based on the successivevariables, in particular wherein previous variables are replaced bysuccessive variables. For instance, a former value regarding a force atthe CMM 1 is replaced by an actualised force value.

The successive state of the CMM 1 can then be calculated depending onthe successive set of variables or depending on the actualised model,respectively. Thus, e.g. an actual bending or torsion of the CMM 1 or ofat least the part of the CMM 1 can be derived as the successive state.Moreover, a displacement of a structure or of a designated point of theCMM 1 can be calculated and, from that, an error information concerninga displacement of the probe (or probe head 15) of the CMM 1 can begenerated. Optionally, according to a further specific embodiment of theinvention, a measurement values is compensated using the errorinformation.

According to an embodiment, above calculation (using calculatedestimates and measured variables) is executed recursively bycontinuously updating modelling parameters (variables) and repetitivelycalculating the actual state of the machine with actual parameters.Therefore, a historical development of one or more model parameters canbe neglected and the variables are to observed and stored for only onetime-step (e.g. from a first to a second calculation of the machinestate), wherein the time-step to be performed may be adapted for eachcalculation, i.e. a time steps may be skipped or alternating time stepsare used.

Furthermore, the modelling approach enables to track a state of at leasta part of a CMM 1 and to derive a deformation or displacement of thepart, respectively. Hence, defining a model and performing filtering ofphysical parameters and calculating an actual state of a CMM 1 allowreduction of errors due to the dynamic behaviour of the CMM 1. Abovedescribed functionality provides an improved and precise basis fordynamically modelling machine parameters and for calculating and,particularly, correcting or compensating for deflections, i.e. fordynamically changing deflections.

Such a modelling approach is e.g. known from and described in moredetail in EP 2 762 831 A1.

Above described functionalities provide an improved and precise basisfor dynamically modelling machine parameters and for calculating and,particularly, correcting or compensating for deflections, i.e. fordynamically changing deflections.

Above approaches of defining a model and performing monitoring ofphysical parameters and calculating an actual state of a CMM 1 allowreduction of errors due to the dynamic behaviour of the CMM 1. At leastthese two approaches are to be understood as representing dynamic modelswhich are intended to be used in context of the present invention forproving actual states of a CMM or any other kind of measuring device.

With other words, when referring to a dynamic model within the presentapplication, preferably one of above described modelling methodsprovides the bases for calculation based on the respective dynamicmodel.

According to a first preferred embodiment of the invention, theprocessing and controlling unit provides an improved controlling of arelative movement of at least two structural components of the measuringdevice. The measuring device may be embodied as a CMM but—according toan alternative embodiment—may also be in form of a surveying instrumentor any other kind of measuring device.

Dynamic state information is provided for at least one of the twostructural components by means of a dynamic model with a set of modelstate variables. The dynamic model may be implemented according to oneof the models described above. Moreover, a model-based state controlleris provided for controlling the driving unit of the measuring machine 1.

The input parameter or basic information for the state controller is atype of information about an actual state of the measuring device 1,which can be derived by use of the dynamic model. Such actual state maybe an actual oscillation or bending of at least one part of themeasuring device 1. The actual state depends for instance onaccelerations of moving parts of the CMM, on a particular mass of amoving part and/or on a natural frequency of such a part.

Based on a determined actual state of the machine 1 and thus havingknowledge about the input controlling state variable, a controllingparameter is generated on side of the state controller by means of amodel based calculation. The controlling parameter is derived so thatthe actual state is influenced in defined manner on usage of thecontrolling parameter for driving the structural elements relative toeach other.

In particular, the controlling parameter provides a motor-movement ofthe driving unit so that a countermovement of the one of the structuralcomponents relative to a second component is induced, in particularwherein a counter-oscillation is induced by a respective controlling ofthe motor (e.g. an oscillation with a particular phase shift).

According to a second preferred embodiment of the invention, theprocessing and controlling unit of the coordinate measuring machine 1provides an improved active damping functionality for the machine 1.Here, the CMM comprises an actively controllable actuator (not shown)for applying a defined force to the system. The actuator may forinstance be attached to one of the legs 12, the Z-ram 13 or the probehead 15.

The actuator is controllable by use of respective controlling parameterswhich provide a defined controlling of actuations by enabling generationof a respective controlling signal. In addition, dynamic stateinformation for at least a part of a coordinate measuring machine isprovided. Such dynamic state information may be provided by a dynamicmodel of above which precisely describes a dynamic behaviour of the CMM1 or by a measurement using a sensor unit attached to the CMM 1, inparticular attached closely to the actuator in order to supply a goodcorrelation of measuring information and actuation. With other words, ameasured action of the CMM (by the sensor) and an induced reaction bythe actuator based on the measured action are closely correlated.

Furthermore, based on the provided dynamic state information, an actualstate of at least a part of the CMM 1 can be derived. The actual statee.g. represents a vibration, bending, distortion, displacement etc. or acombination thereof. The controlling parameter is determined based onthe derived actual state, wherein the controlling parameter is adaptedto provide controlling of the actuator so that the actual state isaffected in defined manner, i.e. for instance the actuator is controlledto generate a force which counteracts a determined oscillation.

According to a third preferred embodiment of the invention, theprocessing and controlling unit of the coordinate measuring machine 1provides an improved controlling of movement of a first structuralcomponent (e.g. a portal leg 12) relative to a second structuralcomponent (e.g. the X-beam) of a measuring device, in particular the CMM1.

Here, a frequency-filter is provided by the measuring machine. The twostructural components are moved relative to each other based on acontrolling by the controlling and processing unit, wherein thecontrolling signal is filtered with respect to known oscillationbehaviour of at least one of the structural components.

Additionally, the second structural component comprises a design whichprovides a physical property of that element to be variable, i.e. thephysical property can vary over time. In particular, the physicalproperty is related to a centre of mass of the component, e.g. dependingon a position of a further element being movably attached to the secondcomponent. Thus, consequently, a resonance or natural frequency of thesecond structural element changes with a change of that physicalproperty as well.

Based on the information about a change of the physical property(provided by a monitoring process) the oscillation behaviour at least ofthe respective component can be derived (e.g. by model-based calculation(using a model of above) or using a respective look-up table). As thefrequency-filter is designed to be variable with view to a frequency ora frequency band to be filtered, the filtering properties of the filtercan be adapted (by the controlling unit) for fitting to the actualoscillation behaviour of the structural element.

In addition, the frequency-filter can be adjusted as to its dampingproperties. This means, as the actual oscillation behaviour of thestructural element is derived and thus also information about theoscillation magnitude may be provided, an amount (power or strength) ofdamping provided by the frequency-filter element may be adaptedaccordingly.

By doing such filtering adaptation, the controlling signal is filteredwhich correspondingly results in a non-excitation of respectivefrequencies when moving the components relative to each other. The motorof the driving unit is controlled so that respective frequencies are notexcited within the machine structure. Such method reduces or finallyeven avoids occurring of resonances and oscillations with largeamplitudes.

FIG. 2 shows a schematic model of a driving unit 20 of a measuringmachine, in particular of a coordinate measuring machine or a geodeticinstrument.

The model represents the driving unit 20 comprising a transmission 21provided by a small pulley 22, a large pulley 23 and a transmission belt24. The small pulley 22 is connected to a motor which provides rotationof the small pulley 22 with defined velocity, accelerations and rotationdirection. In particular a speedometer is connected to the motor.

Moreover, the model comprises a description of a driven part of themeasuring machine. There are two more pulleys 25 and 25′, one of which(25) is fixed together with the larges pulley 23 thus providing a gearstage. A linear belt 26 is supported by the pulleys 25,25′, wherein amass 27 is attached to the belt 26 in order to be moveable bycontrolling the motor. The mass 27 may represent another structuralsub-element being driven by the belt. E.g. the mass 27 can representanother moveable and more complex part of the machine with respect to anaxis which the mass 27 is to be moved along. The part may comprisecertain properties which partly are variable like mass, inertia orflexibility, in particular multiple state space representations mightdescribe the deflection status of that part.

Such model for instance enables to determine the state of driving theY-axis of a coordinate measuring machine (see also FIG. 1). The mass 27and/or e.g. an inertia also represented by the mass element 27represents the bridge to be moved corresponding to particular modelstate variables. Such state variable may be provided by differentdynamic models each of which allowing determination of at least one ofthe state values. Furthermore, the belt 26 is represented by acollection of mass components and defined elasticities. The pulleys 25and 25′ may be represented by defined inertia parameters. In addition,the transmission belt 24 and the pulleys 22 and 23 may be implemented aselastic elements and further inertial components. In particular, anangle parameter is addressed to the motor or the small pulley 22.

Using such a modelling approach, an overall control system for drivingthe Y-axis is provided, wherein additional and corresponding models forfurther machine axis may be provided and contribute to the overallcontrol.

With view to application of the method according to the invention to aY-drive of a CMM, damping of torsions of the X-beam around a first legcan be provided. Moreover, damping of rotation of the Z-ram (pluscarriage) around the X-beam and a damping of bending of the supportingleg with respect to X-beam (rotation around X-axis) may be realised aswell. It is to be understood in context of the present invention thatthe application of the state-controlled method is not limited to theY-drive but may correspondingly implemented for the X- and/or Z-drive.

The model provides determination of several sub states or machinestates, e.g. by use of respective observers. For example, respectiveangular positions or rotation speeds of the pulleys 22,23,25,25′ can bemeasured by respective sensor units (e.g. encoders) and/or observed(e.g. using a Kalman filter) and/or the elastic behaviour of the belt 26or of other components (e.g. part of 27) is described by the model. Suchparticular sub-states of the system then can be used for controlling themotor of the driving unit 20. For that, at least one actual sub-state orthe actual machine state is provided for a state-space controller of thecontrol loop.

The state space controller uses actual state information as respectivecontrolling state variables and at least one target parameter as inputsand, based thereon, provides an adapted controlling of the motor of thedriving unit 20.

The actual state information may relate to one single machine component(e.g. the mass 27) or to a combination of such components and/or mayrelate to a non-component related property of the machine, e.g. to anoscillation or vibration relating to one machine component or extendingover a number of machine components.

The schematic model of a driving unit 20 may alternatively oradditionally comprise machine components being prone to possibledeflection.

Based on that approach an unwanted moving behaviour of the mass 27 (e.g.representing the bridge of a CMM), like an oscillation of the mass 27,can be observed (by measurement and/or model-based) and can becounteracted by generating a respective counterforce using the motor.With other words, the motor can be controlled so that varying forces areinduced in the system, wherein the variation of the forces is temporallyadapted to the observed oscillation (frequency) of the mass 27 and isapplied with a defined phase shift in order to counteract theoscillation.

As a result, the mass 27 can be kept at one desired position without anoscillation of the mass 27, wherein during keeping the mass 27 at thatposition the motor (still) induces respective counterforces.

According to a specific embodiment of the invention, the statecontroller provides the model as described above, i.e. the model buildsan implemented component of the state controller.

According to a further embodiment of the invention, the state controlleris model-based, wherein the model is based on a black box model or on afitted and/or parameterised transfer function (e.g. acceleration vs.motor torque). A physical model may be used to properly identifyresonances.

FIG. 3 shows a block diagram illustrating the general principle of useof a model-based state controller in order to control movements ormeasurements with a measuring device according to a particularembodiment of the invention.

The respective method of movement controlling comprises a controlledsystem 30 particularly represented by a dynamic model as above whichenables to precisely describe an actual state of the measuring device(e.g. a coordinate measuring machine) by use of respective model statevariables. Such model state variables represent physical properties ofthe measuring machine, e.g. a mass of a structural component (e.g. acarriage or Z-ram) and/or an acceleration of such component and/or aforce applied by such acceleration or by an external impact. The modelstate variables can be derived using an observer 32 for the respectivephysical properties and/or by model-based estimations or calculationsand/or measurements. Here, the observer 32 may provide a determinationof a velocity of a structural component. Alternatively, multipleobservers (a set of observers) of multiple models can be used forproviding the state of the machine to be described.

Moreover, the controller comprises a state(-space) controller 31.According to an exemplary embodiment, a first input for the statecontroller is in form of a target position 33 (e.g. of a part to becontrolled). The state controller 31 provides a target acceleration 34(and/or current and/or force) to the controlled system 30, wherein themodel provides an actual position information 35 as output.

Thus, the actual position information 35 and information about an actualacceleration 36 may directly be provided by the model-baseddetermination of the actual state of the respective part. Moreover, theobserver 32 provides actual velocity information 37 to the statecontroller 31. These three input variables—actual position 35,acceleration 36 and velocity 37 of the respective part to be controlledregarding its target position—are used together with a given targetposition 33 as input variables to the state controller 31. Based on acombined processing of that given information a target accelerationvalue 34 is recalculated, updated and provided to the controlled system.It is to be understood that the mentioned states of position 35,acceleration 36 and velocity 37 are exemplarily mentioned.

These states can also be replaced by other machine related states.

By doing so, a target value (here: acceleration, current and/or force)continuously determined by the state controller is provided to thecontrolled system and used to control a respective driving unit of thesystem in order to meet the desired target parameters for the part to becontrolled.

FIG. 4a shows an embodiment of a coordinate measuring machine 2 (CMM) ofthe present invention, wherein an active damping functionality for atleast a part of a coordinate measuring machine 2 is provided by use ofan actively controllable actuator 40.

The CMM 2 comprises a base 11, a first leg 12′, a supporting leg 12″, acarriage 14 supported by the bridge and a Z-ram 13 being movable inZ-direction. The first leg 12′ and the supporting leg 12″ are part ofthe bridge. The bridge is moveably in Y-direction, the carriage 14 inX-direction. The actuator 40 is provided for applying a defined force tothe supporting leg 12″. Of course, it is to be understood that theactuator 40 or additional actuators may be provided at alternative orfurther machine components (e.g. the Z-ram 13) and that theactuator-related damping functionality thus can be provided for thesecomponents, as well.

The CMM 2 is shown in a resting state so that no vibration effects oroscillations occur with the machine and the supporting leg 12″ is in adesired position.

FIG. 4b shows the CMM 2 on a measuring process without applying a forceby the actuator 40. As can be seen the supporting leg 12″, whichtypically is designed in non-heavy manner, e.g. according to alight-weight construction, is displaced from its original position. Sucha displacement can occur due to oscillations in the system emerging fromrelative movements of respective machine parts and respectiveacceleration of these parts. As a result, the supporting leg 12″ (or anyother machine component like the Z-ram 13) comprises an unwanted bendingand thus might influences the accuracy of possible measurements with theCMM 2 significantly.

According to the invention, an actual dynamic state information isprovided which describes such oscillations and/or the bending of thesupporting leg 12″. The dynamic state information may be gathered from adynamic model which describes the CMM 2 or at least the respective leg12″ and its behaviour due to machine movements or may be gathered may asensor based measurement also providing information about theoscillations and/or the bending of the leg 12″. A respective sensor (notshown) may be provided at the supporting leg 12″, in particular near theactuator 40. The sensor may be designed as an accelerometer oralternative oscillation detecting device.

Having knowledge about the dynamic state of the machine 2 or the leg 12″a corresponding controlling signal is derived, the controlling signalbeing adapted to control the actuator 40 in defined manner, i.e.controlling the actuator so that a defined force is generated or inducedwhich leads to a reduction or extinction of the oscillation of the leg12″. In particular, the actuator 40 is controlled so that a definedforce is induced (e.g. a phase shifted oscillation) which counteracts anacceleration-induced oscillation of the leg 12″.

By such controlling of the actuator 40 the supporting leg 12″ is kept atits designated position without comprising any significant, i.e. inparticular negatively influencing the accuracy exceeding definedrequirements, bendings or oscillations (as can be seen in FIG. 4a ). Asa result, as vibrations in the systems are at least reduced, the overallaccuracy for measurements with the CMM 2 is significantly increased.

In particular, the actuator 40 is constructed to provide forces ofdemanded magnitudes for respective counteraction of occurringdistortions etc. Thus, the actuator can be provided with a certain masswhich allows counteracting an oscillation at a respective position ofthe CMM 2.

According to a specific embodiment of the invention, the actuator 40comprises or is designed as a voice coil. Such voice coils are state ofthe art and enable generation of precise controlled vibrations atvarious frequencies to eliminate disturbing vibrations, in particular toactively damp, neutralize or reduce vibrations.

The advantages of voice coils are high accelerations, low moved mass,high reliability, robust design and widespread use e.g. in the“loudspeaker” domain.

Alternative active elements used as the actuator 40 are piezo actuatorsor memory metal elements and/or pneumatic elements.

The control loop for the CMM 2 could be locally closed with use of anacceleration sensor and the dynamic model. Thus, the performance can beincreased by integration of the voice coil and the acceleration sensorinto the global control loop to predict vibrations and take into accountglobal movements and accelerations.

However, concerning the damping functionality, at least one sensor maybe used, wherein additionally a model based approach is provided.Existing sensors of the CMM 2 can further be used to determine an actualstate of the system.

FIG. 5 schematically shows a non-linear mechanism 51 comprising twostructural components 52,53 being designed moveable relative to eachother. One of the structural components 53 comprises a sub-structure 54which is attached moveable relative to the structural components 53.

The principle of such or an alternative non-linear drive mechanism maybe provided for driving a coordinate measuring machine or alternativemeasuring devices. Thus, the method according to the invention asfollows (see also FIG. 6) can correspondingly be applied to machines ofsuch types.

The natural frequency of the mechanism 51 relates to the pose of themechanism 51, to thermal effects and/or to aging. Regarding the pose,the natural frequency especially depends on the position of thesub-structure 54 with reference to the structural components 53. Bymovement of the sub-structure 54 the mass distribution, in particularthe centre of mass, of the second structural component 53 changesaccordingly. The natural frequency of that component 53 changes as well.With other words, at least one physical property (mass distribution orresonance frequency) of the structural component 53 changes with apositional change of the sub-structure 54.

As due to such a change of the physical property the resonances of thesystem change as well, a filtering of a controlling signal for a drivingunit of the system has to be adapted accordingly in order to avoid anexcitation of (resonance) oscillations.

Today, the use of notch filters with defined filtering propertiesadapted to defined machine parameters is known from prior art.Furthermore, a (in advance) definition of several machine statescombined with respective filter adjustments and a switching of thefilter according to respective states is also known. However, this leadsto difficulties during the switching between the filters at differentworking points.

According to the invention, the change of the physical property of atleast the respective structural element 53 or the machine and/or achange of the actual state of the machine is observed, in particularcontinuously. In a next step, an oscillation behaviour (frequencyresponse) of the element 53 (or more machine components) or a change ofsuch behaviour is determined based the derived change of the physicalproperties. This provides a continuously updated state of the structuralcomponent 53 and thus an ongoing and precise identification of natural(resonance) frequencies or respective frequency regions of the component53.

Using the knowledge about the oscillation behaviour (frequency response)of the structural component 53 and/or further machine components, aspecific filtering element provided for controlling the driving unit ofthe mechanism 51 is dynamically adapted with respect to a frequency orfrequency rage to be filtered. Such adaptation of filtering propertiesis provided by adjusting respective filter parameters pose dependent.The same state values are maintained. Thus, the frequency filteringelement is designed to provide a change of its filtering properties byonly changing respective filter parameters without the need of providinga change of the machine state.

The filter parameters can be updated continuously in each samplingperiod or at a certain rate. For that, the update rate of the filterparameters is provided faster compared to a change in the pose, and thusthe natural frequency.

The update of the filter parameters can be done in one or combinedmanner of the following ways:

-   -   calculating the filter frequency and damping online according to        the pose of the structural component 53, calculating the        corresponding filter parameters and using the new filter        parameters in the next step;    -   storing the optimal filter frequency and damping for different        poses in a table, interpolating the filter frequency and damping        according to the current pose and using the new filter        parameters in the next step; and/or    -   storing the optimal filter parameters in a table for different        poses, interpolating the filter parameters according to the        current pose and applying them for the next calculation step.

FIG. 6 shows the principle of frequency-filtering with controlling adriving unit of a measuring device according to the invention. An inputtarget signal 64 is provided to a controller 60 which is designed toderive a controlling signal for controlling the driving unit 62 or anyother kind of actuator. Additionally, a frequency-filter element 61 isimplemented for providing filtering of defined frequencies or afrequency region. Such filtering element 61 may be implemented as alow/high-pass- or lead/lag- or notch- or Kerr-filter or any combinationof them.

As shown with FIG. 6 the frequency-filter element 61 is logicallypositioned in between the controller 60 and the driving unit 62 forpre-filtering the controlling signal in order to avoid excitation of aspecific frequency (region). Alternatively, a notch-filter may beimplemented as a sub-part of the controller or may logically be arrangedprior to the controller 60 for kind of pre-filtering the signal (notshown).

For adapting the frequency to be filtered, information about an actualstate of at least one structural component (e.g. oscillation) isrequired. Such information can be derived based on the output signal 65behind the driving unit, e.g. by measuring a positional change and/or anactual acceleration and/or based on a desired trajectory position and/ortrajectory acceleration, the output signal 65 being supplied to adynamic model 63.

Alternatively or additionally, an estimation concerning the actual statemay be provided by use of the direct output 66 from the filtering unit61 and model-based estimating calculations. By doing so, an input 67 forthe filtering unit 61 is provided by the model 63.

Alternatively, the controller 60 and the model 63 are implementedtogether in a common controlling element (not shown), wherein both theinput for adapting the filter parameters and the controlling signal aregenerated by such element.

Although the invention is illustrated above, partly with reference tosome specific embodiments, it must be understood that numerousmodifications and combinations of different features of the embodimentscan be made and that the different features can be combined withmodelling, compensation or controlling principles and/or coordinatemeasuring machines known from prior art.

What is claimed is:
 1. A method for controlling a relative movement ofat least two structural components of a measuring device including adriving unit for providing movability at least of the two structuralcomponents relative to each other, the method comprising: providing adynamic state information for at least one of the two structuralcomponents by means of a dynamic model with a set of model statevariables, the model state variables: being related to a set of physicalproperties of at least one of the two structural components, andproviding determination of an actual state of at least one of the twostructural components; providing a model-based state controller forcontrolling the driving unit, the model-based state controllercomprising a set of at least one controlling state variable whichdepends on the actual state; deriving at least one controlling statevariable of the set of at least one controlling state variable by acalculation at least based on the dynamic model; generating acontrolling parameter by use of the state controller based on the atleast one derived controlling state variable, the controlling parameterbeing adapted to drive the driving unit so that the at least one derivedcontrolling state variable or actual state is affected in definedmanner, and applying the controlling parameter to the driving unit sothat the structural components are moved in defined manner relative toeach other.
 2. The method according to claim 1, further comprising:deriving the at least one controlling state variable based on monitoringthe model state variable; and deriving a particular controlling statevariable of the set of at least one controlling state variable bymonitoring the model state variable; and deriving the actual state by acalculation based on the dynamic model.
 3. The method according to claim1, further comprising: deriving the at least one controlling statevariable based additionally on a model-based estimation or on ameasurement; and deriving a particular controlling state variable of theset of at least one controlling state variable at least by a model-basedestimation or measurement; and deriving the actual state by acalculation based on the dynamic model.
 4. The method according to claim1, wherein at least one controlling state variable of the set of atleast one controlling state variable is derived by measuring anexcitation or an impact on the measuring device with a sensor or bycalculation from a path trajectory.
 5. The method according to claim 1,further comprising: deriving the actual state for the at least one ofthe two structural components by measuring or estimating at least one ofthe physical properties and, therefrom, deriving at least onecorresponding actual controlling state variable.
 6. The method accordingto claim 1, wherein the at least one controlling state variablecorresponds to the actual state.
 7. The method according to claim 1,wherein the state controller comprises an observer which providesdetermination of the at least one controlling state variable, inparticular wherein the observer is provided by a Kalman-Filter.
 8. Themethod according to claim 1, wherein the dynamic model and themodel-based state controller are implemented in combined manner.
 9. Themethod according to claim 1, wherein an actual deflection of themeasuring device is derived based on the dynamic model.
 10. The methodaccording to claim 1, wherein: an actual velocity or acceleration of atleast a part of the measuring device is derived based on the dynamicmodel, or an actual position of a designated point of the measuringdevice is derived based on the dynamic model, or measuring errors arecompensated based on the dynamic model.
 11. The method according toclaim 1, wherein the measuring device is embodied as a coordinatemeasuring machine comprising: a base, a probe head, a machine structurefor linking the probe head to the base, and at least one drive mechanismfor providing movability of the probe head relative to the base, thedrive mechanism representing the driving unit, wherein the structuralcomponents are embodied as the base, the probe head, or the machinestructure.
 12. The method according to claim 1, wherein the measuringdevice is embodied as a geodetic measuring instrument, with: a supportstructure being mounted on a base of the measuring instrument such thatthe support structure is pivotable about a first axis defined by thebase, a source of electromagnetic radiation for generating a measuringbeam, a directing unit for directing the measuring beam, the directingunit being arranged at the support structure as to provide pivotabilityof the directing unit about a second axis defined by the supportstructure, the second axis being basically perpendicular to the firstaxis, and a measuring functionality for providing directing and guidingof the measuring beam in a predefined manner and measuring distancescorrespondingly.
 13. The method according to claim 1, wherein the atleast one model state variable defines at least one or a combination ofthe following factors: acceleration, velocity, in particular rotational,position, bending, deformation, displacement, orientation, temperature,humidity, torque, force, stiffness, and mass.
 14. The method accordingto claim 1, wherein the change of the at least one controlling statevariable or the model state variable is derived by at least one of thefollowing physical properties: acceleration, velocity, position,deflection, torque and/or force.
 15. The method according to claim 1,further comprising; monitoring the physical properties and providingmonitored physical properties; and calculating the actual state of atleast the part of the measuring device based on at least the set ofmodel state variables and the monitored physical properties.
 16. Acomputer program product having computer-executable instructions forperforming the method claim
 1. 17. A coordinate measuring machine withan active damping functionality, the coordinate measuring machinecomprising: a base, a probe head, a machine structure with structuralcomponents for linking the probe head to the base; at least one drivingunit for providing movability of the probe head relative to the base;and a coordinate measuring machine provided with a dynamic stateinformation and comprising a controllable actuator for applying adefined force, deriving an oscillation information about an actualoscillation of at least the part of a coordinate measuring machine basedon the dynamic state information; and determining a controllingparameter based on the derived oscillation information and based on thecontrolling parameter, providing a damping actuation by the actuator byinducing a defined force counteracting the actual oscillation, whereinan actual state of at least the part of the coordinate measuring machineis determined based on the dynamic state information and the controllingparameter is based on the derived actual state, the controllingparameter being adapted to provide controlling of the actuator so thatthe actual state is affected in defined manner.
 18. A method accordingto claim 17, wherein the actuator is attached to one of the structuralcomponents, the probe head, or the base, wherein the force is producibleat the respective component.
 19. The method according to claim 17,wherein the dynamic state information is provided for at least the partof a coordinate measuring machine by means of a dynamic model or anobserver with a set of model state variables, the model state variables:being related to a set of physical properties of at least the part ofthe coordinate measuring machine, and representing an actual state of atleast the part of the coordinate measuring machine.
 20. The methodaccording to claim 19, wherein the actual state of at least the part ofthe coordinate measuring machine is derived by a calculation based onthe dynamic model or the observer.
 21. The method according claim 17,wherein the dynamic state information is provided for at least a part ofa coordinate measuring machine by means of a measurement by a sensorunit.
 22. The method according to claim 21, wherein the sensor unit isattached to one of the structural components, the probe head, or thebase.
 23. The method according to claim 21, wherein the sensor unit andthe actuator are attached to the same part of the coordinate measuringmachine and are positioned closely to each other.
 24. The methodaccording claim 17, wherein the actual state is derived usinginformation about a planned moving path.
 25. The method according toclaim 17, wherein a controlling signal is applied to the actuator, thecontrolling signal being derived based on the controlling parameter. 26.The method according to claim 17, wherein the actuator is designed as avoice coil, a piezo unit, a memory metal element, or a pneumaticelement.